'''
Description: Keyboard control key definition
Version: V1.0
Author: zw_1520@163.com
Date: 2025-08-26 10:35:04
LastEditors: zw_1520@163.com
LastEditTime: 2025-08-26 10:54:43
Copyright (C) 2024-2050 Lens All rights reserved.
'''


# Left arm key definition
LEFT_ARM_X_MOVE_INC = '1'
LEFT_ARM_X_MOVE_DEC = 'q'
LEFT_ARM_Y_MOVE_INC = '2'
LEFT_ARM_Y_MOVE_DEC = 'w'
LEFT_ARM_Z_MOVE_INC = '3'
LEFT_ARM_Z_MOVE_DEC = 'e'
LEFT_ARM_ROLL_MOVE_INC = 'a'
LEFT_ARM_ROLL_MOVE_DEC = 'z'
LEFT_ARM_PITCH_MOVE_INC = 's'
LEFT_ARM_PITCH_MOVE_DEC = 'x'
LEFT_ARM_YAW_MOVE_INC = 'd'
LEFT_ARM_YAW_MOVE_DEC = 'c'

# Right arm key definition
RIGHT_ARM_X_MOVE_INC = '7'
RIGHT_ARM_X_MOVE_DEC = 'u'
RIGHT_ARM_Y_MOVE_INC = '8'
RIGHT_ARM_Y_MOVE_DEC = 'i'
RIGHT_ARM_Z_MOVE_INC = '9'
RIGHT_ARM_Z_MOVE_DEC = 'o'
RIGHT_ARM_ROLL_MOVE_INC = 'j'
RIGHT_ARM_ROLL_MOVE_DEC = 'm'
RIGHT_ARM_PITCH_MOVE_INC = 'k'
RIGHT_ARM_PITCH_MOVE_DEC = ','
RIGHT_ARM_YAW_MOVE_INC = 'l'
RIGHT_ARM_YAW_MOVE_DEC = '.'

LEFT_ARM_ZERO_GRAVITY_MODE_ENABLE = '-'
LEFT_ARM_SERVO_MODE_ENABLE = '='

RIGHT_ARM_ZERO_GRAVITY_MODE_ENABLE = '['
RIGHT_ARM_SERVO_MODE_ENABLE = ']'

LEFT_ARM_GRIPPER_OPEN = 'g'
LEFT_ARM_GRIPPER_CLOSE = 'b'
RIGHT_ARM_GRIPPER_OPEN = 'h'
RIGHT_ARM_GRIPPER_CLOSE = 'n'

TRANSLATION_STEP_INC = '5'
TRANSLATION_STEP_DEC = 't'

ORIENTATION_STEP_INC = '6'
ORIENTATION_STEP_DEC = 'y'

KEYBOARD_CONTROL_STOP = '\x03'

LEFT_ARM_CONTROL_KEY_LIST = [
    LEFT_ARM_X_MOVE_INC, LEFT_ARM_X_MOVE_DEC, LEFT_ARM_Y_MOVE_INC,
    LEFT_ARM_Y_MOVE_DEC, LEFT_ARM_Z_MOVE_INC, LEFT_ARM_Z_MOVE_DEC,
    LEFT_ARM_ROLL_MOVE_INC, LEFT_ARM_ROLL_MOVE_DEC, LEFT_ARM_PITCH_MOVE_INC,
    LEFT_ARM_PITCH_MOVE_DEC, LEFT_ARM_YAW_MOVE_INC, LEFT_ARM_YAW_MOVE_DEC
]

RIGHT_ARM_CONTROL_KEY_LIST = [
    RIGHT_ARM_X_MOVE_INC, RIGHT_ARM_X_MOVE_DEC, RIGHT_ARM_Y_MOVE_INC,
    RIGHT_ARM_Y_MOVE_DEC, RIGHT_ARM_Z_MOVE_INC, RIGHT_ARM_Z_MOVE_DEC,
    RIGHT_ARM_ROLL_MOVE_INC, RIGHT_ARM_ROLL_MOVE_DEC, RIGHT_ARM_PITCH_MOVE_INC,
    RIGHT_ARM_PITCH_MOVE_DEC, RIGHT_ARM_YAW_MOVE_INC, RIGHT_ARM_YAW_MOVE_DEC
]
